ViSP  2.8.0
servoAfma6Segment2DCamVelocity.cpp

Example of eye-in-hand control law. We control here a real robot, the Afma6 robot (cartesian robot, with 6 degrees of freedom). The velocity is computed in camera frame. The visual feature is the segment between two points.

/****************************************************************************
*
* $Id: servoAfma6Point2DCamVelocity.cpp 3616 2012-03-09 14:31:52Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* tests the control law
* eye-in-hand control
* velocity computed in the camera frame
*
* Authors:
* Filip Novotny
*
*****************************************************************************/
#include <visp/vpConfig.h>
#include <visp/vpDebug.h> // Debug trace
#include <stdlib.h>
#include <vector>
#if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))
#include <visp/vp1394TwoGrabber.h>
#include <visp/vpImage.h>
#include <visp/vpImagePoint.h>
#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpFeatureSegment.h>
#include <visp/vpPoint.h>
#include <visp/vpServo.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpRobotAfma6.h>
#include <visp/vpIoTools.h>
#include <visp/vpException.h>
#include <visp/vpMatrixException.h>
#include <visp/vpServoDisplay.h>
#include <visp/vpDot.h>
#include <visp/vpDisplay.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpDisplayGTK.h>
int
main()
{
// Log file creation in /tmp/$USERNAME/log.dat
// This file contains by line:
// - the 6 computed cam velocities (m/s, rad/s) to achieve the task
// - the 6 mesured joint velocities (m/s, rad/s)
// - the 6 mesured joint positions (m, rad)
// - the 2 values of s - s*
std::string username;
// Get the user login name
// Create a log filename to save velocities...
std::string logdirname;
logdirname ="/tmp/" + username;
// Test if the output path exist. If no try to create it
if (vpIoTools::checkDirectory(logdirname) == false) {
try {
// Create the dirname
}
catch (...) {
std::cerr << std::endl
<< "ERROR:" << std::endl;
std::cerr << " Cannot create " << logdirname << std::endl;
exit(-1);
}
}
std::string logfilename;
logfilename = logdirname + "/log.dat";
// Open the log file name
std::ofstream flog(logfilename.c_str());
try
{
vpServo task ;
g.open(I) ;
g.acquire(I) ;
#ifdef VISP_HAVE_X11
vpDisplayX display(I,100,100,"Current image") ;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display(I,100,100,"Current image") ;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display(I,100,100,"Current image") ;
#endif
std::vector<vpDot> dot_d(2), dot(2) ;
vpFeatureSegment seg_d,seg ;
vpRobotAfma6 robot ;
// Update camera parameters
robot.getCameraParameters (cam, I);
std::cout << "define the initial segment" << std::endl;
for(std::vector<vpDot>::iterator i = dot.begin();i!=dot.end();i++){
std::cout << "Click on a dot..." << std::endl;
i->initTracking(I) ;
cog = i->getCog();
}
vpFeatureBuilder::create(seg, cam, dot[0], dot[1]);
seg.display(cam,I,vpColor::red);
std::cout << "define the destination segment" << std::endl;
for(std::vector<vpDot>::iterator i = dot_d.begin();i!=dot_d.end();i++){
*i = vpDot(ip);
}
vpFeatureBuilder::create(seg_d, cam, dot_d[0], dot_d[1]);
seg_d.setZ1( 1. );
seg_d.setZ2( 1. );
seg_d.display(cam,I);
// define the task
// - we want an eye-in-hand control law
// - robot is controlled in the camera frame
// - we want to see both segments
task.addFeature(seg, seg_d) ;
// - set the constant gain
task.setLambda(0.8) ;
// Display task information
task.print() ;
// Now the robot will be controlled in velocity
std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
for ( ; ; ) {
// Acquire a new image from the camera
g.acquire(I) ;
// Display this image
// Achieve the tracking of the dot in the image
for(std::vector<vpDot>::iterator i = dot.begin();i!=dot.end();i++){
i->track(I) ;
}
// Update the segment feature from the dot locations
vpFeatureBuilder::create(seg, cam, dot[0], dot[1]);
// Compute the visual servoing skew vector
v = task.computeControlLaw() ;
// Display the current and desired feature segments in the image display
vpServoDisplay::display(task, cam, I) ;
// Apply the computed joint velocities to the robot
// Save feature error (s-s*) for the feature segment. For this feature
// segments, we have 4 errors (Xc,Yc,l,alpha).
flog << ( task.getError() ).t() << std::endl;
// Flush the display
}
flog.close() ; // Close the log file
// Display task information
task.print() ;
// Kill the task
task.kill();
return 0;
}
catch (...)
{
flog.close() ; // Close the log file
vpERROR_TRACE(" Test failed") ;
return 0;
}
}
#else
int
main()
{
vpERROR_TRACE("You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
}
#endif